コーナリングスティフネス推定値を用いた電気自動車の走行安定化制御 Running Stabilization Control of Electric Vehicle Based on Cornering Stiffness Estimation
In this paper, novel direct yaw-moment control (DYC) with road condition estimation and anti-slip control is proposed for electric vehicles. An inner-loop observer controls the vehicle traction, and an outer-loop observer stabilizes the yawing motion of the vehicle. An immeasurable parameter known as cornering stiffness is estimated from the detected yaw-rate, steering angle, wheel speed and yaw-moment observer output in real time. Thus, the accurate control input can be generated with the estimated parameters. The proposed adaptive control is compared with a conventional robust control method on dry and snowy terrain conditions. Experimental results show that the proposed control algorithm properly attenuates the yaw-rate error.
- 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 126(7), 996-1002, 2006-07-01